1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
|
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file testSimulated3D.cpp
* @brief Unit tests for simulated 3D measurement functions
* @author Alex Cunningham
**/
#include <tests/simulated3D.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <boost/bind/bind.hpp>
#include <CppUnitLite/TestHarness.h>
#include <iostream>
using namespace std::placeholders;
using namespace gtsam;
// Convenience for named keys
using symbol_shorthand::X;
using symbol_shorthand::L;
/* ************************************************************************* */
TEST( simulated3D, Values )
{
Values actual;
actual.insert(L(1),Point3(1,1,1));
actual.insert(X(2),Point3(2,2,2));
EXPECT(assert_equal(actual,actual,1e-9));
}
/* ************************************************************************* */
TEST( simulated3D, Dprior )
{
Point3 x(1,-9, 7);
Matrix numerical = numericalDerivative11<Point3, Point3>(std::bind(simulated3D::prior, std::placeholders::_1, boost::none),x);
Matrix computed;
simulated3D::prior(x,computed);
EXPECT(assert_equal(numerical,computed,1e-9));
}
/* ************************************************************************* */
TEST( simulated3D, DOdo )
{
Point3 x1(1, -9, 7), x2(-5, 6, 7);
Matrix H1, H2;
simulated3D::odo(x1, x2, H1, H2);
Matrix A1 = numericalDerivative21<Point3, Point3, Point3>(
std::bind(simulated3D::odo, std::placeholders::_1, std::placeholders::_2,
boost::none, boost::none),
x1, x2);
EXPECT(assert_equal(A1, H1, 1e-9));
Matrix A2 = numericalDerivative22<Point3, Point3, Point3>(
std::bind(simulated3D::odo, std::placeholders::_1, std::placeholders::_2,
boost::none, boost::none),
x1, x2);
EXPECT(assert_equal(A2, H2, 1e-9));
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
/* ************************************************************************* */
|
